一种满足方向约束的动态航迹规划方法*

针对动态环境下有方向约束航迹规划问题，提出一种结合引导点的动态航迹规划方法。该方法沿约束方向基于圆拓展的方式产生引导点，并自主选择代价最小的引导点，引导航迹规划算法向引导点区域搜索，提高了规划效率。仿真结果表明，改进算法可以适应动态变化的环境，也能满足从特定方向接近目标点的航迹规划要求。相比于传统D*算法，改进算法的航迹总代价更小，规划时间更短。

A dynamic route planning method based on directional constraints

Aiming at the directional constraints path planning problem in dynamic environment, this paper proposed a dynamic path planning algorithm which combines the guide points. The algorithm generated guide points on the basis of the circle expansion method along the constraints direction, and then selected the least cost guide point to guide the planning algorithm to search the guide points region, finally it could improve the overall planning efficiency. The simulation results show that the improved algorithm can adapt to the dynamic environmental changes as well as plan the resultant path to the target point which goes from the specific direction. Compared with the traditional D * algorithm, the total path cost of the improved algorithm is smaller and the planning time is shorter.